Title :
Design and implementation of a dual-arm robot control system with multi-sensor integrating capability
Author :
Suh, I.H. ; Hyun, W.K. ; Kim, T.W. ; Yeo, H.J. ; Oh, S.R. ; Oh, Y.S. ; Kim, J.-O. ; Yoon, S.J.
Author_Institution :
Dept. of Electron. Eng., Hanyang Univ., Seoul, South Korea
fDate :
28 Oct-1 Nov 1991
Abstract :
An intelligent robotic system was developed for effectively controlling dual robot arms. The control system aids collision avoidance and coordination of the dual arms. The system has a multi-sensor integration capability. It responds to environmental sensors such as a vision sensor, a force sensor and a position encoder. The control system permits the human operator to communicate with the system via a teach box, a high-level language with a screen editor and menu-driven operational commands, which were specially designed for multiarm control. The control system was applied successfully to the assembly system using two SCARA type robot arms
Keywords :
control systems; knowledge based systems; position control; robots; user interfaces; IKBS; SCARA type robot arms; assembly system; collision avoidance; coordination; dual-arm robot control system; environmental sensors; force sensor; intelligent robotic system; menu-driven operational commands; multi-sensor integrating capability; position encoder; screen editor; teach box; user interfaces; vision sensor; Arm; Collision avoidance; Control systems; Intelligent robots; Intelligent sensors; Intelligent systems; Manipulators; Robot control; Robot kinematics; Robot sensing systems;
Conference_Titel :
Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on
Conference_Location :
Kobe
Print_ISBN :
0-87942-688-8
DOI :
10.1109/IECON.1991.239171
